The free version of vBulletin is actually quite good and simple to use. There's also a decent control panel built into it. Considering its only for your family to use I'd recommend vBulletin over any other one. It's also fast!
If you're on a NT platform, you could try the Snitz forum (http://forum.snitz.com). It's easy to use and easy to set up. It's also FREE!!
It can run with either an Access database or it can run on SQL server, so it gives you a couple of options depending on how active it gets (though with just family members, it should be OK with just the Access)
I highly recommend BoardPower ( www.thewebmasterforums.com ). It is free, fully featured, and lots of things get done immediately, you can also check out my site ( www.bphackers.com) anyway, i really like it, and it is just plain awesome. There is a free SQL version on its way also